In 2006, i wrote a tutorial / documentation approved by the MakeHuman development team. Perhaps the older members of Scolring remember this. It has since changed considerably !
What is MakeHuman ? A free (under GNU GPL) application for making 3d characters.
What are the features ? read here : https://www.makehuman.org/features
Where is the documentation ? https://www.makehuman.org/documentation
For some time now, MH can export easily to Blender (before, it's a bit more difficult !). You can include your characters into a scene and export to Ogre3d, for example ...
Note too the tool to create the targets libraries : https://www.makehuman.org/download (bottom)
If you know Python language, you can code your plugins.